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Mecanum wheels demo #683

Merged
merged 18 commits into from
Mar 24, 2021
Merged

Mecanum wheels demo #683

merged 18 commits into from
Mar 24, 2021

Commits on Mar 14, 2021

  1. Initial diff_drive_mecanum example world 

    Initial version copied from diff_drive_skid example.

Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Mar 14, 2021
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  2. Set friction parameters for mecanum wheel model 

    This modifies the friction parameters of the wheels in the
skid-steer example vehicle to behave like Mecanum wheels,
with anisotropic friction and friction directions that
are constant in the chassis frame. To specify these
friction directions, the //fdir1/@Gazebo:expressed_in
attribute is used. The friction values are specified as 1.0
in the direction corresponding to the Mecanum wheel roller
axes, and 0.0 in the perpendicular direction, which
corresponds to the rolling direction.

Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Mar 14, 2021
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  3. debug: box visuals for wheels to see rotations 

    Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Mar 14, 2021
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Commits on Mar 19, 2021

  1. Duplicate diff_drive system as mecanum_drive 

    No files changed yet, this is only a file copy.

Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Mar 19, 2021
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Commits on Mar 22, 2021

  1. Use ignition as xml namespace 

    Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Mar 22, 2021
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  2. Merge branch 'mecanum_wheels_demo' of github.com:scpeters/ign-gazebo … 

    …into mecanum_wheels_demo
    @scpeters
    scpeters committed Mar 22, 2021
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  3. Rename DiffDrive.* to MecanumDrive.* 

    Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Mar 22, 2021
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Commits on Mar 23, 2021

  1. Update MecanumDrive kinematics 

    Based on the following references:
https://robohub.org/drive-kinematics-skid-steer-and-mecanum-ros-twist-included/
https://research.ijcaonline.org/volume113/number3/pxc3901586.pdf

Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Mar 23, 2021
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  2. Disable odometry for now 

    Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Mar 23, 2021
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  3. MecanumDrive: update documentation 

    Signed-off-by: Steve Peters <[email protected]>
    @scpeters
    scpeters committed Mar 23, 2021
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  4. fix codecheck 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Mar 23, 2021
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  5. Merge branch 'main' into mecanum_wheels_demo

    @scpeters
    scpeters committed Mar 23, 2021
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  6. Use ignition::math::SpeedLimiter 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Mar 23, 2021
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  7. Use sphere visuals for wheels 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Mar 23, 2021
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Commits on Mar 24, 2021

  1. MecanumDrive: remove odometry 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Mar 24, 2021
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  2. Fix xmlns and update comments 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Mar 24, 2021
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  3. rename skid_steer_mecanum example world 

    Signed-off-by: Steve Peters <[email protected]>
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    scpeters committed Mar 24, 2021
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  4. Merge branch 'main' into mecanum_wheels_demo

    @scpeters
    scpeters authored Mar 24, 2021
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